
where \(l\)  is the axial length of the motor.
The reference assumes constant current for thermal similarity, so we have substituted the \(\tau \)  used in [1]} with \(K_T\)  without a change in meaning.
Though () appears to suggest a tradeoff in inertia, actuator inertia \(J_a\)  (REF ) is invariant when considering the need for a transmission to meet some given torque requirement [2]}.
